Research On Vehicle Adaptive Cruise Control And Active Lane Change Control Strategy

In order to cope with complex traffic environments and with the rapid development of intelligent driving,adaptive cruise control,as an important part of advanced assisted driving,has been widely used in medium and high-end vehicles.As the ACC(Adaptive Cruise Control,ACC)system cannot leave the following mode after entering the following cruise,the integration of active lane change function into the ACC system is an important development direction in the future,and the application of integrated longitudinal and transverse control to the traditional ACC system can effectively improve its applicability in practice.In this paper,we design an adaptive cruise control system with lane change function and multi-mode switching to meet the driver’s driving needs during the driving process.(1)The three control modes are divided into three modes: fixed speed cruise,follow cruise and active lane change,and the corresponding switching logic is designed for multiple traffic conditions.(2)The overall ACC system is designed using a layered design.The design of the lower layer controller contains three parts: the inverse engine model,the inverse brake model,and the switching logic for drive/brake control.A PID control algorithm is designed for the lower layer control of the adaptive cruise control system to enable the system to quickly eliminate deviations.(3)The design of the upper layer controller algorithm of the ACC system is divided into two parts: firstly,the PID control algorithm is used for the fixed speed cruise mode;secondly,the model predictive control algorithm is used for the following cruise mode to control the vehicle speed as well as the workshop distance,and a feedback correction mechanism is introduced to improve the accuracy of the model predictive control,in which the state quantity as well as the control quantity of the system is constrained and a slack factor is introduced to ensure that there is a solution when optimally solving the quadratic programming.(4)Develop active lane change function on the basis of adaptive cruise control system to meet the driver’s demand for higher speed during driving,adopt five times polynomial to plan the lane change trajectory,based on the three-degree-of-freedom model of the vehicle,use MPC control algorithm to track the lane change trajectory,design three different vehicle speeds of low speed,medium speed and high speed to verify the performance of the algorithm.Finally,to verify the effectiveness of the multi-mode switching control algorithm,a variety of switching scenarios are designed for simulation verification.